//------------------------------------------------------------------------------
//  <copyright file="TestPokeFRIConnection.h" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
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//------------------------------------------------------------------------------

#pragma once

#include "MockFRIConnection.h"

/// <summary> FRI sever implementation with asserts specific to the <c>PokeTest</c> test. </summary>
class TestPokeFRIConnection : public MockFRIConnection
{
private:
	/// <summary> Used to record whether or not we received a position command. </summary>
	bool gotPositionCommand;

public:

	/// <summary> Initializes a new instance of the TestPokeFRIConnection class. </summary>
	TestPokeFRIConnection();

	/// <summary> Destructor. </summary>
	~TestPokeFRIConnection();

	/// <summary> Close the FRI server. </summary>
	/// <returns> Status code.  0 on no error. </returns>
	int CloseFRI();

	/// <summary> Execute joint position control. </summary>
	/// <param name="jointPosition"> Array of joint positions. </param>
	/// <returns> Status code.  0 on no error. </returns>
	int DoPositionControl(double *jointPosition);

	/// <summary>
	/// let the test code set the sensed force/torque at the TCP.
	/// There is a potential race condition here (two threads can be accessing the feedback
	/// register at the same time).  None of the current tests will be adversely effected by
	/// this, but synchonization should be implemented if future tests require it.
	/// </summary>
	/// <param name="pTCPEstimatedTorque"> The values to set the estimted TCP torque register to. </param>
	void SetTCPEstimatedTorque(double *pTCPEstimatedTorque);
};
